The invention discloses a vehicle U-turn control method, device and equipment and a computer readable storage medium. Obtaining lane information of a target U-turn road section in a preset map; according to the lane information, an initial U-turn path and a driving area corresponding to the target U-turn road section are constructed, and the initial U-turn path comprises a plurality of predicted driving state points; sequentially calculating a state correlation coefficient between two adjacent predicted driving state points in the initial U-turn path according to a reverse recursive algorithm, and configuring a corresponding path curvature control quantity according to the state correlation coefficient; acquiring driving state information of the vehicle at the current moment, and generating target driving state information at the next moment according to the driving state information and the path curvature control quantity and the initial U-turn path; and controlling the vehicle to turn around in the driving area based on the target driving state information. Therefore, the driving path of the vehicle is adaptively adjusted according to the actual driving condition without spending a large amount of labor cost, and the smoothness of the driving path is improved.

    本申请公开了一种车辆调头控制方法、装置、设备及计算机可读存储介质;获取预设地图中目标调头路段的车道信息;根据车道信息构建目标调头路段对应的初始调头路径和行驶区域,其中,初始调头路径中包含多个预测行驶状态点;按照反向递推算法依序计算初始调头路径中相邻的两个预测行驶状态点之间的状态关联系数,并根据状态关联系数配置对应的路径曲率控制量;采集车辆当前时刻的行驶状态信息,并根据行驶状态信息及路径曲率控制量按照初始调头路径生成下一时刻的目标行驶状态信息;基于目标行驶状态信息,控制车辆在行驶区域内进行调头行驶。以此,无需花费大量的人力成本,根据行驶实况来自适应调整车辆的行驶路径,提高行驶路径的平滑度。


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    Titel :

    Vehicle U-turn control method, device and equipment and computer readable storage medium


    Weitere Titelangaben:

    车辆调头控制方法、装置、设备及计算机可读存储介质


    Beteiligte:
    LI YANG (Autor:in) / LI LIYUN (Autor:in) / CHEN JIANXING (Autor:in) / WANG HAORAN (Autor:in) / LI SHAN (Autor:in)

    Erscheinungsdatum :

    2022-12-20


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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